Trajectory Tracking Control of Four-Wheel Independent Drive Electric Vehicles

A two layered control scheme is proposed to solve the trajectory tracking problem for a four-wheel independent drive electric vehicle (4WIDEV) in this paper. The first layered control is a control strategy producing front steering wheel angle and yaw moment that is designed by model predictive control (MPC) approach. The second layered control is a torque optimal distribution control algorithm to achieve yaw moment distribution to four tires. CarSim-Simulink joint simulation results demonstrate the effectiveness of the proposed control scheme and advantage over the traditional PID.